How does vrrotvec calculate rotation?

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Can anybody describe the math behind vrrotvec? The documentation for this function is very sparse and I would like to know how the rotational transformation is being calculated for my own confiendence in my code.
Thanks!

Accepted Answer

James Tursa
James Tursa on 17 Nov 2021
It is a simple algorithm that uses the cross product for the axis (normalized), and the dot product is used to calculate the angle. I.e., vrrotvec(x,y) is equivalent to the following (but with error checking etc.)
rotation axis = cross(x,y)/norm(cross(x,y))
rotation angle = acos(dot(x,y)/(norm(x)*norm(y)))
then these are concatenated into a 4-element vector

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R2020b

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